Dynamixel MX-106T servo motor

Dynamixel Servomotors

Introduction to the Dynamixel range

Dynamixel servomotors are integrated servomotors that include:

• A reducer
• A controller
• A driver

Dynamixel servomotors have a unique identifier and communicate via digital packets.

The main features of the Dynamixel range are:

• High position control accuracy (1024 divisions for AX, RX and EX models, 4096 for MX)
• Many functions of feedback on the various physical variables of the servomotor (current position, speed, voltage, internal temperature.
• A alert based on internal temperature, torque, or supply voltage, which is activated when these values exceed defined limits. The Dynamixel servomotor provides feedback and can automatically correct the situation.
• ” Compliance Driving ": control of the amount of spring force in position control.
• ” Torque Establishment ": the torque can be set in 1023 steps from the maximum torque to the free rotation state.
• ” Low Current/High Voltage Operation ": its efficiency is high as it operates at a higher voltage. Its low current consumption also improves the performance of the robotic system.
• A Status LED Is used to display the status of Dynamixel.
• A mechanical assembly made easy by the many compatible mechanical parts.
• A wiring easy in 'daisy chain'

Dynamixel servomotor programming.

Servomotors must be connected to a controller (CM-900, CM-700, CM-5, CM-510 or CM-530) to be driven. Programs are made with RoboPlus, very easily and without requiring much prior knowledge.

Newer controllers support the embedded C language, and an SDK is available for developing your own applications.

The Dynamixel MX-106T servo motor.

Servomotors MX-106R and MX-106T are the new additions to Dynamixel's MX range. They replace and enhance the EX-106+ servo motor with a non-contact absolute position sensor with 12-bit accuracy (4096 positions), offer 360° position control (previously 251°), continuous rotational speed control, and current-based torque estimation.

In addition, the control is of the PID type ( proportional integral derived servomotor), the parameters of which can be changed on a motor-by-motor basis. Allowable values are between 0 and 255, so PID coefficients are calculated according to the formulas below.

MX-106T dynamixel servo motor control pid

Two MX-106T dynamixel servomotors can be used in 'dual mode,' where the slave servomotor exactly reproduces the movements of the master servomotor (or the reverse of the movements if the 'reverse' option is enabled).

The casing of the EX-106+ servomotor has also been slightly modified, so the MX-106T servomotor is not compatible with the HN05-N101/T101 drive.

The Dynamixel MX-106T servo motor supports TTL communication protocol (while the MX-106R servo motor uses RS485 communication) at high speed (3Mbs), so it is compatible with CM-510, CM-530, and CM-700 controllers. Note that the recommended working voltage is no longer that of the EX-106+.

Technical specifications of the Dynamixel MX-106T servomotor

• MCU: ST CORTEX-M3 (ST32F103C8 @ 72MHZ, 32BIT)
• Engine: Maxon
• Position sensor: absolute non-contact encoder (12BIT, 360 degrees)
• Stall torque: 8.0N.m (at 11.1V, 4.8A), 8.4N.m (at 12V, 5.2A), 10.0N.m (at 14.8V, 6.3A)
• No-load speed: 41 rmp (11.1V), 45 rmp (12V), 55 rmp (14.8V)
• Resolution: 0.088° x 4.096
• Range of motion: 360°
• Control algorithm: PID
• Control: digital packet, transmission speed: 8000 bps ~ 3 Mbps
• Protocol: asynchronous half-duplex serial communication (8bit, 1stop, no parity)
• Connection (physical): Multiple drop bus at TTL level
• Weight: 153g
• Voltage: 10~14.8V (12V voltage is recommended)
• Gear ratio: 225 : 1
• ID: 254 ID (0~253)
• Feedback: position, temperature, load, input voltage, current, etc.
• Standby power consumption: 100 mA
• Dimensions: 40.2 mm x 61.1 mm x 46 mm (exact dimensions are available here )
• Material: metal gears, technical plastic housing

Compare the different Dynamixel servomotors

This document allows you to quickly compare the characteristics of different Dynamixel servomotors

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